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  <h1>Source code for argoverse.data_loading.argoverse_forecasting_loader</h1><div class="highlight"><pre>
<span></span><span class="c1"># &lt;Copyright 2019, Argo AI, LLC. Released under the MIT license.&gt;</span>
<span class="kn">import</span> <span class="nn">os</span>
<span class="kn">from</span> <span class="nn">functools</span> <span class="k">import</span> <span class="n">lru_cache</span>
<span class="kn">from</span> <span class="nn">pathlib</span> <span class="k">import</span> <span class="n">Path</span>
<span class="kn">from</span> <span class="nn">typing</span> <span class="k">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">Mapping</span><span class="p">,</span> <span class="n">Optional</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">,</span> <span class="n">Union</span>

<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">import</span> <span class="nn">pandas</span> <span class="k">as</span> <span class="nn">pd</span>

<span class="n">__all__</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;ArgoverseForecastingLoader&quot;</span><span class="p">]</span>


<span class="nd">@lru_cache</span><span class="p">(</span><span class="mi">128</span><span class="p">)</span>
<span class="k">def</span> <span class="nf">_read_csv</span><span class="p">(</span><span class="n">path</span><span class="p">:</span> <span class="n">Path</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">:</span> <span class="n">Any</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">:</span> <span class="n">Any</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">pd</span><span class="o">.</span><span class="n">DataFrame</span><span class="p">:</span>
    <span class="sd">&quot;&quot;&quot;A caching CSV reader</span>

<span class="sd">    Args:</span>
<span class="sd">        path: Path to the csv file</span>
<span class="sd">        *args, **kwargs: optional arguments to be used while data loading</span>

<span class="sd">    Returns:</span>
<span class="sd">        pandas DataFrame containing the loaded csv</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="k">return</span> <span class="n">pd</span><span class="o">.</span><span class="n">read_csv</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>


<div class="viewcode-block" id="ArgoverseForecastingLoader"><a class="viewcode-back" href="../../../argoverse.data_loading.html#argoverse.data_loading.argoverse_forecasting_loader.ArgoverseForecastingLoader">[docs]</a><span class="k">class</span> <span class="nc">ArgoverseForecastingLoader</span><span class="p">:</span>
<div class="viewcode-block" id="ArgoverseForecastingLoader.__init__"><a class="viewcode-back" href="../../../argoverse.data_loading.html#argoverse.data_loading.argoverse_forecasting_loader.ArgoverseForecastingLoader.__init__">[docs]</a>    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_dir</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Path</span><span class="p">]):</span>
        <span class="sd">&quot;&quot;&quot;Initialization function for the class.</span>
<span class="sd"> </span>
<span class="sd">        Args:</span>
<span class="sd">            root_dir: Path to the folder having sequence csv files</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_track_id_list</span><span class="p">:</span> <span class="n">Optional</span><span class="p">[</span><span class="n">Mapping</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]]]</span> <span class="o">=</span> <span class="kc">None</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">_city_list</span><span class="p">:</span> <span class="n">Optional</span><span class="p">[</span><span class="n">Mapping</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">str</span><span class="p">]]</span> <span class="o">=</span> <span class="kc">None</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">counter</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>

        <span class="n">root_dir</span> <span class="o">=</span> <span class="n">Path</span><span class="p">(</span><span class="n">root_dir</span><span class="p">)</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">seq_list</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="n">Path</span><span class="p">]</span> <span class="o">=</span> <span class="p">[(</span><span class="n">root_dir</span> <span class="o">/</span> <span class="n">x</span><span class="p">)</span><span class="o">.</span><span class="n">absolute</span><span class="p">()</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="n">os</span><span class="o">.</span><span class="n">listdir</span><span class="p">(</span><span class="n">root_dir</span><span class="p">)]</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">current_seq</span><span class="p">:</span> <span class="n">Path</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">seq_list</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">counter</span><span class="p">]</span></div>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">track_id_list</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]:</span>
        <span class="sd">&quot;&quot;&quot;Get the track ids in the current sequence.</span>

<span class="sd">        Returns:</span>
<span class="sd">            list of track ids in the current sequence</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_track_id_list</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_track_id_list</span> <span class="o">=</span> <span class="p">{}</span>
            <span class="k">for</span> <span class="n">seq</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">seq_list</span><span class="p">:</span>
                <span class="n">seq_df</span> <span class="o">=</span> <span class="n">_read_csv</span><span class="p">(</span><span class="n">seq</span><span class="p">)</span>
                <span class="bp">self</span><span class="o">.</span><span class="n">_track_id_list</span><span class="p">[</span><span class="nb">str</span><span class="p">(</span><span class="n">seq</span><span class="p">)]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">unique</span><span class="p">(</span><span class="n">seq_df</span><span class="p">[</span><span class="s2">&quot;TRACK_ID&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">values</span><span class="p">)</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>

        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_track_id_list</span><span class="p">[</span><span class="nb">str</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_seq</span><span class="p">)]</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">city</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Get the city name for the current sequence.</span>

<span class="sd">        Returns:</span>
<span class="sd">            city name, i.e., either &#39;PIT&#39; or &#39;MIA&#39;</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_city_list</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">_city_list</span> <span class="o">=</span> <span class="p">{}</span>
            <span class="k">for</span> <span class="n">seq</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">seq_list</span><span class="p">:</span>
                <span class="n">seq_df</span> <span class="o">=</span> <span class="n">_read_csv</span><span class="p">(</span><span class="n">seq</span><span class="p">)</span>
                <span class="bp">self</span><span class="o">.</span><span class="n">_city_list</span><span class="p">[</span><span class="nb">str</span><span class="p">(</span><span class="n">seq</span><span class="p">)]</span> <span class="o">=</span> <span class="n">seq_df</span><span class="p">[</span><span class="s2">&quot;CITY_NAME&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">values</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>

        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_city_list</span><span class="p">[</span><span class="nb">str</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_seq</span><span class="p">)]</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">num_tracks</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Get the number of tracks in the current sequence. </span>

<span class="sd">        Returns:</span>
<span class="sd">            number of tracks in the current sequence</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">track_id_list</span><span class="p">)</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">seq_df</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">pd</span><span class="o">.</span><span class="n">DataFrame</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Get the dataframe for the current sequence.</span>

<span class="sd">        Returns:</span>
<span class="sd">            pandas DataFrame for the current sequence</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">return</span> <span class="n">_read_csv</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">current_seq</span><span class="p">)</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">agent_traj</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Get the trajectory for the track of type &#39;AGENT&#39; in the current sequence.</span>

<span class="sd">        Returns:</span>
<span class="sd">            numpy array of shape (seq_len x 2) for the agent trajectory</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="n">agent_x</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">seq_df</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">seq_df</span><span class="p">[</span><span class="s2">&quot;OBJECT_TYPE&quot;</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;AGENT&quot;</span><span class="p">][</span><span class="s2">&quot;X&quot;</span><span class="p">]</span>
        <span class="n">agent_y</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">seq_df</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">seq_df</span><span class="p">[</span><span class="s2">&quot;OBJECT_TYPE&quot;</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;AGENT&quot;</span><span class="p">][</span><span class="s2">&quot;Y&quot;</span><span class="p">]</span>
        <span class="n">agent_traj</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">column_stack</span><span class="p">((</span><span class="n">agent_x</span><span class="p">,</span> <span class="n">agent_y</span><span class="p">))</span>
        <span class="k">return</span> <span class="n">agent_traj</span>

<div class="viewcode-block" id="ArgoverseForecastingLoader.__iter__"><a class="viewcode-back" href="../../../argoverse.data_loading.html#argoverse.data_loading.argoverse_forecasting_loader.ArgoverseForecastingLoader.__iter__">[docs]</a>    <span class="k">def</span> <span class="nf">__iter__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="s2">&quot;ArgoverseForecastingLoader&quot;</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Iterator for enumerating over sequences in the root_dir specified.</span>

<span class="sd">        Returns:</span>
<span class="sd">            Data Loader object for the first sequence in the data</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">counter</span> <span class="o">=</span> <span class="mi">0</span>
        <span class="k">return</span> <span class="bp">self</span></div>

<div class="viewcode-block" id="ArgoverseForecastingLoader.__next__"><a class="viewcode-back" href="../../../argoverse.data_loading.html#argoverse.data_loading.argoverse_forecasting_loader.ArgoverseForecastingLoader.__next__">[docs]</a>    <span class="k">def</span> <span class="nf">__next__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="s2">&quot;ArgoverseForecastingLoader&quot;</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Get the Data Loader object for the next sequence in the data.</span>

<span class="sd">        Returns:</span>
<span class="sd">            Data Loader object for the next sequence in the data</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">counter</span> <span class="o">&gt;=</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
            <span class="k">raise</span> <span class="ne">StopIteration</span>
        <span class="k">else</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">current_seq</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">seq_list</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">counter</span><span class="p">]</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">counter</span> <span class="o">+=</span> <span class="mi">1</span>
            <span class="k">return</span> <span class="bp">self</span></div>

<div class="viewcode-block" id="ArgoverseForecastingLoader.__len__"><a class="viewcode-back" href="../../../argoverse.data_loading.html#argoverse.data_loading.argoverse_forecasting_loader.ArgoverseForecastingLoader.__len__">[docs]</a>    <span class="k">def</span> <span class="nf">__len__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Get the number of sequences in the data</span>

<span class="sd">        Returns:</span>
<span class="sd">            Number of sequences in the data</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">seq_list</span><span class="p">)</span></div>

<div class="viewcode-block" id="ArgoverseForecastingLoader.__str__"><a class="viewcode-back" href="../../../argoverse.data_loading.html#argoverse.data_loading.argoverse_forecasting_loader.ArgoverseForecastingLoader.__str__">[docs]</a>    <span class="k">def</span> <span class="nf">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Decorator that returns a string storing some stats of the current sequence</span>

<span class="sd">        Returns:</span>
<span class="sd">            A string storing some stats of the current sequence</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">return</span> <span class="n">f</span><span class="s2">&quot;&quot;&quot;Seq : </span><span class="si">{self.current_seq}</span><span class="s2"></span>
<span class="s2">        ----------------------</span>
<span class="s2">        || City: </span><span class="si">{self.city}</span><span class="s2"></span>
<span class="s2">        || # Tracks: {len(self.track_id_list)}</span>
<span class="s2">        ----------------------&quot;&quot;&quot;</span></div>

<div class="viewcode-block" id="ArgoverseForecastingLoader.__getitem__"><a class="viewcode-back" href="../../../argoverse.data_loading.html#argoverse.data_loading.argoverse_forecasting_loader.ArgoverseForecastingLoader.__getitem__">[docs]</a>    <span class="k">def</span> <span class="nf">__getitem__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="s2">&quot;ArgoverseForecastingLoader&quot;</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Get the DataLoader object for the sequence corresponding to the given index.</span>

<span class="sd">        Args:</span>
<span class="sd">            key: index of the element</span>

<span class="sd">        Returns:</span>
<span class="sd">            Data Loader object for the given index</span>
<span class="sd">        &quot;&quot;&quot;</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">counter</span> <span class="o">=</span> <span class="n">key</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">current_seq</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">seq_list</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">counter</span><span class="p">]</span>
        <span class="k">return</span> <span class="bp">self</span></div>

<div class="viewcode-block" id="ArgoverseForecastingLoader.get"><a class="viewcode-back" href="../../../argoverse.data_loading.html#argoverse.data_loading.argoverse_forecasting_loader.ArgoverseForecastingLoader.get">[docs]</a>    <span class="k">def</span> <span class="nf">get</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seq_id</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="n">Path</span><span class="p">,</span> <span class="nb">str</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="s2">&quot;ArgoverseForecastingLoader&quot;</span><span class="p">:</span>
        <span class="sd">&quot;&quot;&quot;Get the DataLoader object for the given sequence path.</span>

<span class="sd">        Args:</span>
<span class="sd">            seq_id: Fully qualified path to the sequence</span>

<span class="sd">        Returns:</span>
<span class="sd">            Data Loader object for the given sequence path</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">current_seq</span> <span class="o">=</span> <span class="n">Path</span><span class="p">(</span><span class="n">seq_id</span><span class="p">)</span><span class="o">.</span><span class="n">absolute</span><span class="p">()</span>
        <span class="k">return</span> <span class="bp">self</span></div></div>
</pre></div>

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